Underactuated Rehabilitation Robotics for Hand Function

Xuanren Zhu, Bin He
2021 Journal of Robotics and Control (JRC)  
At present, the incidence of hand dysfunction caused by diseases such as cerebral palsy or stroke is increasing year by year. For the rehabilitation of hand dysfunction, in addition to surgical treatment, effective rehabilitation exercise is also particularly important. Hand rehabilitation robot is a new rehabilitation instrument developed gradually based on the theory of human rehabilitation medicine, which can effectively treat patients with limb disorders. Therefore, it is necessary to
more » ... a safe, stable and portable hand rehabilitation robot. This paper presents a portable and dexterous hand function rehabilitation robot finger joint based on underactuation. This model can reduce the number of drive sources to simplify the mechanical structure, and achieve a separate control function for each finger. In order to verify the correctness of the structure, the kinematic simulation analysis of the skeleton model of the structure is carried out. The results show that the velocity acceleration of the finger changes steadily under the driving of the model, and the bending Angle can reach the specified value. The kinematics model of rehabilitation robot with underactuated hand function designed in this paper is verified to be correct, which can effectively carry out rehabilitation treatment for patients' affected limbs.
doi:10.18196/jrc.25103 fatcat:uhs665dqovemdcswf6yca43uie